水下三维扫测机器人 / Underwater 3D Scanning ROV

产品概述与突破

跨海跨江桥梁所处的环境差，有必要对其桥墩水下部分进行质量检测，为桥梁的年度养护提供依据。

水下三维扫测机器人解决了现有技术无法实时检测桥梁三维位移的问题，提供实时检测桥梁三维位移的监测方法，其应用时可以实时对桥梁的三维位移进行监测，可以对桥梁结构的三维位移进行远程实时、全面监测，依靠现代网络通信技术，可以组建大型监控网。

Product overview and breakthrough

It is necessary to carry out quality inspection on the underwater part of the bridge pier in order to provide the basis for the annual maintenance of the bridge.

The underwater three-dimensional scanning robot solves the problem that the existing technology can not detect the three-dimensional displacement of the bridge in real-time, and provides a monitoring method for the real-time detection of the three-dimensional displacement of the bridge. When it is applied, it can monitor the three-dimensional displacement of the bridge in real-time and comprehensively. Relying on the modern network communication technology, it can establish a large-scale monitoring network.

应用场景

Application scenarios

常泰大桥桥梁结构 3D 检测

3D Inspection of bridge foundation of Changtai bridge

技术参数

整备质量：1200mm*800mm*650mm,150kg；

驱动系统：6 个无刷推进器，4 个水平推进器，2 个垂直升降推进器；

观测系统：前置摄像机： 1080P, 图像传感器 2.0M pixels,云台搭载三维实时声呐。旋转角度为竖向-90°~0°；

照明系统：主照明两组 50W 高亮 LED 灯；

缆控系统：150m 中性浮力承重缆， 可承受拉力：不小于 200kg, 缆车：滑环卷线盘， 容缆量不小于 250m;

甲板单元：双 15.6 英寸屏显示器，嵌入式主机，17 处理器，1T 硬盘，有视频叠加功能； 作业能力：下潜深度：200m, 航速：2 节；

传感系统：三维电子罗盘，深度传感器，温度传感器，GPS, 具有漏水、漏电、短路等自检和自防护功能；

控制手柄：采用防溅机箱设计；工业级控制手柄，手柄可以控制设备基本动作，手柄可以通   过 USB 接口连接主机，

三维声呐：操作频率 375/630kHz 波束 128*64 (8192 总数）波最大范围 120m(394ft),375kHz;

最小范围 80m(262ft),630kHz 距离分辨率 2cm/3cm 更新率 20Hz；波束总范围 50°*50°,24  °

*24 °，深度等级 250m; 波间距 0.39° (水平） *0.78 ° (垂直） ，375kHz , 0.19°（水平） *0.38 °(垂直），630kHz。

Technical parameters

Size& weight: 1200mm * 800mm * 650mm, 150kg;

Driving system: 6 brushless thrusters, 4 horizontal thrusters and 2 vertical lifting thrusters; Observation system: front camera: 1080p, image sensor 2 megapixel pixels, PTZ equipped with 3D real-time sonar. The rotation angle is - 90 °to 0 °vertically;

Lighting system: main lighting two groups of 50W high brightness LED lights;

Cable control system: 150m neutral buoyancy load-bearing cable, able to withstand tension: not less than 200kg, winch: slip ring reel, cable capacity not less than 250m;

Deck unit: Dual 15.6-inch screen display, embedded host, 17 processor, 1T hard disk, video &text overlay function;

Operation capacity: diving depth: 200m, speed: 2 knots;

Sensor system: Three dimensional electronic compass, depth sensor, temperature sensor, GPS, with water leakage, leakage, short circuit and other self-protection functions;

Control handle: It adopts splash proof chassis design; industrial control handle, which can control the basic action of equipment, can be connected to the host through USB interface,

Three dimensional sonar: Operating frequency 375 / 630khz, beam 128 * 64 (8192 total) beam, maximum range of 120m (394ft), 375khz;

The minimum range is 80m (262ft), 630khz, the range resolution is 2cm / 3cm, the update rate is 20Hz; the total beam range is 50 ° * 50 °, 24 ° * 24 °, depth level is 250m; the beam spacing is 0.39 ° (horizontal) * 0.78 ° (vertical), 375khz, 0.19 ° (horizontal) * 0.38 ° (vertical), 630khz.